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Search google, there are lots of circuits for interfacing micro's to a stepper motor. It does matter what type of motor you have (bipolar/unipolar/etc). There are also some specialized circuits for doing exactly what you want to do. Search for LM297 and LM298. Also the L298 is useful for higher currents. Basically, in the micro you can use the digital outputs to switch on or off the different motor phases. Then you use power electronics to switch the drive current to the motors. Searching "circuit unipolar stepper" etc, should land you some hits, such as http://micromouse.cannock.ac.uk/motors/stepper_driving.htm